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http://dx.doi.org/10.5302/J.ICROS.2013.12.1843

Position-Based Force Control Application of a Mobile Robot with Two Arms  

Ahn, Jae Kook (Chungnam National University)
Jung, Seul (Chungnam National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.4, 2013 , pp. 315-321 More about this Journal
Abstract
This paper presents the position-based force control application of a mobile manipulator. The mobile manipulator consists of two six DOF manipulators and a mobile robot. Kinematics of the robot is analyzed and simulated to validate the analysis. A position-based force control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of force control applications of robot arm and interaction with a human operator are conducted. Experimental results show that the robot arm is well regulated to follow the desired force.
Keywords
force control; interaction; a mobile manipulator;
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Times Cited By KSCI : 3  (Citation Analysis)
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